CN110001811A - A kind of Climbing Robot - Google Patents
A kind of Climbing Robot Download PDFInfo
- Publication number
- CN110001811A CN110001811A CN201910181389.7A CN201910181389A CN110001811A CN 110001811 A CN110001811 A CN 110001811A CN 201910181389 A CN201910181389 A CN 201910181389A CN 110001811 A CN110001811 A CN 110001811A
- Authority
- CN
- China
- Prior art keywords
- climbing robot
- reduction gearbox
- robot according
- chassis
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 25
- 230000009467 reduction Effects 0.000 claims abstract description 28
- 238000010521 absorption reaction Methods 0.000 claims abstract description 8
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 16
- 230000003287 optical effect Effects 0.000 claims description 7
- 239000011159 matrix material Substances 0.000 claims description 5
- 239000002390 adhesive tape Substances 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 claims description 2
- 230000006872 improvement Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000007592 spray painting technique Methods 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 241000233855 Orchidaceae Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of Climbing Robots, and the centrifugal blower using body upper forms negative pressure to aspirating in cavity in cavity, enable the chassis for being provided with absorption cavity form sucker, are attached on curtain wall face of various shapes so that body can be inhaled securely；And it is equipped with sliding equipment, sliding block can be moved along the length direction of fuselage side, it is adjusted so that the distance between two section bodies are realized, whole equipment has retractility, while sliding block being connected with the reduction gearbox for being equipped with steering motor, two section bodies are attached by slide bar again, whens so that encountering curved surface, turning etc., is overturn and then lifted front end body by slide bar, it can be achieved that smoothly crossing and passing through obstacle using steering motor, with flexibility, the invention is used for robot field.
Description
Technical field
The present invention relates to robot fields, more particularly to a kind of Climbing Robot.
Background technique
With modern development, skyscraper also the more is built the more high while being continuously increased, and these high building curtain walls is clear
It is clean, maintenance and detection, spray painting and goods and materials transmitting etc. work now it is most of be to be completed by manually, work effect
Rate is low, and time-consuming, and since there are many insecurity factors for high altitude operation, there are great security risks.
And the one kind of climbing robot as intelligent robot, it is the robot that can be automatically performed high altitude operation, this sets
Standby can be applied to, the working environment that people can not touch works, high-altitude cleaning work, high-altitude maintenance and detection work and
The working environment of the contour intensity of high-altitude spray painting work, high-risk.But the response environment performance of existing high-altitude climbing robot
It is poor, it is desirable that the flatness in curtain wall face is higher, and as being equipped with protrusion, cambered surface, rib bone, concave surface on curtain wall face, it just has no way luxuriant
Across such obstacle, have a use scope very limit, obstacle climbing ability is poor, flexibility difference problem.
Summary of the invention
The purpose of the present invention is to provide Climbing Robots that is a kind of automatic and can flexibly crossing various obstacles.
The technical solution used in the present invention is:
A kind of Climbing Robot, the body including the setting of two septa intersegmentals, the fuselage interior of each body is cavity, described
Body upper is fixed with centrifugal blower, and chassis is equipped with below the fuselage, the absorption of several matrix arrangements is provided on the chassis
Cavity, the fuselage two sides of each body are respectively equipped with a sliding equipment, and each sliding equipment includes along fuselage side
The one side outwardly of the mobile sliding block of length direction, each sliding block is fixedly connected with a reduction gearbox respectively, the reduction gearbox it is defeated
Enter end and be connected with steering motor, the reduction gearbox positioned at two described body the same sides is connected by slide bar, the both ends point of the slide bar
It is not connected with the output shaft end of reduction gearbox.
It is further used as the improvement of technical solution of the present invention, the sliding equipment be equipped with pedestal, the bottom surface of the pedestal with
The fitting of fuselage side is fixed, and one end of each pedestal is fixed with slide unit axis piece, and the other end of each pedestal is fixed with motor
The outside of flange, the motor flange connects a motor, and an optical axis is connected between the motor flange and slide unit axis piece, each described
Sliding block is worn connect on optical axis respectively.
It is further used as the improvement of technical solution of the present invention, and the steering motor is connect by input shaft with reduction gearbox, institute
The output shaft end for stating reduction gearbox, which is worn, to be connect in a mounting flange, and the another side fitting of each mounting flange is fixed on slide bar
End.
It is further used as the improvement of technical solution of the present invention, and the steering motor and mounting flange are located at reduction gearbox
Front and the back side, the positive other side of the reduction gearbox are fixedly connected with a slide block.
It is further used as the improvement of technical solution of the present invention, the two sides of the front end edge of each body be respectively equipped with two away from
From sensor, a range sensor is equipped in the middle part of the back end edge of each body.
It is further used as the improvement of technical solution of the present invention, and there are four wheel hub, four wheel hubs for distribution on the chassis
It is located at four angles position of the matrix in absorption cavity, each wheel hub is connected to a decelerating motor.
It is further used as the improvement of technical solution of the present invention, and each wheel hub is all made of Mecanum wheel.
It is further used as the improvement of technical solution of the present invention, is respectively equipped with one on the two of them skew symmetry angle on the chassis
Pressure sensor.
It is further used as the improvement of technical solution of the present invention, and the surrounding on the chassis posts adhesive tape.
It is further used as the improvement of technical solution of the present invention, and the middle position of the body upper is equipped with support frame, institute
It is fixed on the support frame to state centrifugal blower.
Beneficial effects of the present invention: this Climbing Robot, centrifugal blower using body upper to being aspirated in cavity,
Negative pressure is formed in cavity, enables the chassis for being provided with absorption cavity form sucker, so that body can be inhaled securely is attached to various shape
Curtain wall face on；And be equipped with sliding equipment, sliding block can move along the length direction of fuselage side so that between two section bodies away from
Adjustable from realizing, whole equipment has retractility, while sliding block being connected with the reduction gearbox for being equipped with steering motor, then pass through cunning
Two section bodies are attached by bar, whens so that encountering curved surface, turning etc., are overturn using steering motor and then are passed through slide bar for front end
Body lifts, it can be achieved that smoothly crossing and by obstacle, has flexibility.
Detailed description of the invention
The present invention will be further explained below with reference to the attached drawings:
Fig. 1 is the overall structure diagram of the embodiment of the present invention；
Fig. 2 is the specific structure structure schematic diagram of the slide block mechanism of the embodiment of the present invention；
Fig. 3 is the concrete structure schematic diagram of the steering module of the embodiment of the present invention；
Fig. 4 is the concrete structure schematic diagram on the chassis of the embodiment of the present invention；
Fig. 5 is the overall structure diagram of another embodiment of the present invention；
Fig. 6 is the schematic diagram of the motor module of another embodiment of the present invention；
Fig. 7 is the front view of the motor module of another embodiment of the present invention.
Specific embodiment
Referring to Figure 1 to Figure 7, the present invention be a kind of Climbing Robot, including two septa intersegmentals setting body 1, each body 1
Fuselage interior is cavity, and body upper is fixed with centrifugal blower 11, chassis 12 is equipped with below fuselage, is provided with several squares on chassis 12
The absorption cavity 121 of battle array arrangement, the fuselage two sides of each body 1 are respectively equipped with a sliding equipment 2, and each sliding equipment 2 includes edge
The one side outwardly of the mobile sliding block 22 of the length direction of fuselage side, each sliding block 22 is fixedly connected with a reduction gearbox 3 respectively, is slowed down
The input terminal of case 3 is connected with steering motor 31, and the reduction gearbox 3 positioned at two bodies, 1 the same side is connected by slide bar 4, and the two of slide bar 4
End is connected with 32 end of output shaft of reduction gearbox 3 respectively.
This Climbing Robot, the centrifugal blower 11 using body upper in cavity to aspirating, to make shape in cavity
At negative pressure, since chassis 12 is provided with absorption cavity 121, so form sucker so that body 1 can inhale securely be attached to plane or
On the curtain wall face of the various shapes of curved surface；Sliding equipment 2 is set in each 1 two sides of body again, sliding block 22 can be along the length of fuselage side
It is mobile to spend direction, so that the distance between two section bodies 1 are realized adjustable, whole equipment has a retractility, while by sliding block 22
It is connected with the reduction gearbox 3 for being equipped with steering motor 31, then is attached two section bodies 1 by slide bar 4, so that encounters curved surface, turning
Whens angle etc., is overturn and then lifted front end body 1 by slide bar 4, it can be achieved that smoothly crossing and passing through barrier using steering motor 31
Hinder, there is flexibility.
As a preferred embodiment of the present invention, sliding equipment 2 is equipped with pedestal 21, and the bottom surface and fuselage side of pedestal 21 are pasted
It closes and fixes, one end of each pedestal 21 is fixed with slide unit axis piece 23, and the other end of each pedestal 21 is fixed with motor flange 24, motor method
The outside of orchid 24 connects a motor 25, an optical axis 26 is connected between motor flange 24 and slide unit axis piece 23, each sliding block 22 is worn respectively
It connects on optical axis 26.Slide unit axis piece 23 is opposite with motor flange 24 and sets, and ensure that sliding block 22 carries out in a certain range
Sliding, slide unit axis piece 23 also ensures in the motion process of sliding block 22 and cannot be detached from from pedestal 21, guarantee to move back and forth into
Row；And sliding block 22 is worn and is connect on optical axis 26, it is ensured that without departing from rectilinear orbit when sliding block 22 moves, keeps Climbing Robot whole
Linear expansion function be protected.
As a preferred embodiment of the present invention, steering motor 31 is connect by input shaft with reduction gearbox 3,32 end of output shaft
Portion, which is worn, to be connect in a mounting flange, and the another side fitting of each mounting flange is fixed on the end of slide bar 4.Further, electricity is turned to
Machine 31 and mounting flange are located at the front and the back side of reduction gearbox 3, the positive other side of reduction gearbox 3 and the fixed company of sliding block 22
It connects.
Sliding block 22 is connected by steering motor 31 with slide bar 4, so that entire body 1 is provided with the fortune of four freedom degrees
Dynamic, when implementing crossing over blockage, the distance between its two sections body 1 is stretched as longest state by sliding block 22, to ensure crossing
When slide bar 4 will not obstruct and cross.Meanwhile connection between steering motor 31 and sliding block 22, it can be achieved that body 1 have 0 ° extremely
360 ° of turn over function realizes lifting between body 1 and turn over function, enables the Climbing Robot in various disorders object
Working environment under work, whole flexibility enhancing.When encountering successive steps shape obstacle or continuous low raised barrier, by
The steering motor 31 of front end body drives rear end body to overturn 180 ° around front end body, climbs over rear end body before obstacle advances to
The front of terminal body, then its chassis 12 is overturn to downwards by the steering motor 31 of rear end body, finally inhale again
It is attached.
As a preferred embodiment of the present invention, the two sides of the front end edge of each body 1 are respectively equipped with two range sensors
13, the back end edge middle part of each body 1 is equipped with a range sensor 13.Positioned at 1 front end edge of body range sensor 13 to
The obstructing objects in detection walking front, and judge whether to cross after front end body 1 is raised, feedback information make front end machine after
It is continuous be raised to can cross height until,；The distance when range sensor 13 of back end edge then is used to detect flexible between two bodies 1,
Ensure close to when two bodies 1 will not generate collision and lead to integrally-built damage.
As a preferred embodiment of the present invention, there are four wheel hubs 14, four wheel hubs 14 to be located at for distribution on chassis 12
Four angles position of the matrix in absorption cavity 121, each wheel hub 14 are connected to a decelerating motor 15.Further, each wheel hub 14 is all made of
Mecanum wheel.Mecanum wheel can not only straight line roll, moreover it is possible to horizontal sliding.Using Mecanum wheel, increases and climb wall
The walking manner of robot and countermeasure to obstacle, when obstacle for occurring it in plane may be selected to be crossed or
Person, which detours, to be avoided.
As a preferred embodiment of the present invention, a pressure sensing is respectively equipped on the two of them skew symmetry angle on chassis 12
Device 16.Pressure sensor 16 is set, convenient for judge the compactness between chassis 12 and working face, also to chassis 12 and working face it
Between adsorption capacity size judged, it is ensured that chassis 12 adsorb securely after again feedback information indicate this Climbing Robot carry out it is next
Step movement avoids overall structure etc. from being damaged during advancing or turning over and climb.
As a preferred embodiment of the present invention, the surrounding on chassis 12 posts adhesive tape 17.The setting of adhesive tape 17 makes chassis 12
Spaced a distance with working face, so that the movement of body 1 is more smooth, and can reduce chassis 12 can on working face
The abrasion that can be generated.
As a preferred embodiment of the present invention, the middle position of body upper is equipped with support frame 18, centrifugal blower 11
It is fixed on support frame 18.
As a preferred embodiment of the present invention, communication module and system control module are additionally provided on body 1.
The single track sliding rail 5 of sliding equipment 2 of the fuselage two sides of body 1 will be located at as optimally according to Fig. 5 to Fig. 7
Substitution, and enclosing is added in each 1 surrounding of body, single track sliding rail 5 is fixed on to the top of enclosing, the two sides of each enclosing have
The isometric long stripes through hole with single track sliding rail 5.Further, which includes base seat 51, is arranged on base seat 51
Threaded rod 53, wear the slide unit 52 connect on threaded rod 53, fix a motor module on slide unit 52, which includes motor
Connector 6, and it is separately fixed at the reduction gearbox 3 of 6 down either side of motor contact, the input terminal of each reduction gearbox 3, which connects, to be turned to
Motor 31, the reduction gearbox 3 positioned at two bodies, 1 the same side are connected by slide bar 4, and the both ends of slide bar 4 are each passed through long stripes through hole
It is connected afterwards with the output shaft 32 of reduction gearbox 3.Replace the sliding equipment 2 of fuselage two sides using single track sliding rail 5, and is connected using motor
The case where slide unit 52 and slide bar 4 are indirectly connected with by part 6, and two sides slide bar 4 realizes synchronous slide when being conducive to flexible, reduce sliding dislocation
Occur, while improving the aesthetics of single unit system.
Further, slide unit 52 is located at the intermediate groove of motor contact 6, and 32 end of output shaft of each reduction gearbox 3 is set
There is shaft coupling 34, the end of each slide bar 4 is connected on shaft coupling.The setting of shaft coupling, so that may in installation or the course of work
Off-centring between 4 end of slide bar of generation and output shaft 32 can be compensated, it also more effectively ensure that two sides slide bar 4
What is be displaced is consistent.
Certainly, the invention is not limited to above embodiment, and those skilled in the art are without prejudice to originally
Equivalent deformation or replacement can be also made under the premise of spirit, these equivalent variation or replacement are all contained in the application right
It is required that in limited range.
Claims (10)
1. a kind of Climbing Robot, it is characterised in that: the body (1) including the setting of two septa intersegmentals, the fuselage of each body (1)
Inside is cavity, and the body upper is fixed with centrifugal blower (11), is equipped with chassis (12) below the fuselage, the chassis
(12) absorption that several matrix arrangements are provided on is empty (121), and the fuselage two sides of each body (1) are respectively equipped with a sliding
Mechanism (2), each sliding equipment (2) include the sliding block (22) that the length direction along fuselage side moves, each sliding block
(22) one side outwardly is fixedly connected with a reduction gearbox (3) respectively, and the input terminal of the reduction gearbox (3) is connected with steering motor
(31), the reduction gearbox (3) positioned at two described body (1) the same sides is connected by slide bar (4), the both ends difference of the slide bar (4)
It is connected with output shaft (32) end of reduction gearbox (3).
2. Climbing Robot according to claim 1, it is characterised in that: the sliding equipment (2) is equipped with pedestal (21), institute
It states the bottom surface of pedestal (21) and fuselage side and is bonded fixation, one end of each pedestal (21) is fixed with slide unit axis piece (23), respectively
The other end of the pedestal (21) is fixed with motor flange (24), and the outside of the motor flange (24) connects a motor (25),
It is connected to an optical axis (26) between the motor flange (24) and slide unit axis piece (23), each sliding block (22) is worn respectively to be connect in optical axis
(26) on.
3. Climbing Robot according to claim 1, it is characterised in that: the steering motor (31) passes through input shaft and subtracts
The connection of fast case (3), output shaft (32) end, which is worn, to be connect in a mounting flange (33), each mounting flange (33) it is another
Face paste closes the end for being fixed on slide bar (4).
4. Climbing Robot according to claim 3, it is characterised in that: the steering motor (31) and mounting flange (33)
It is located at the front and the back side of reduction gearbox (3), the positive other side of the reduction gearbox (3) is fixedly connected with sliding block (22).
5. Climbing Robot according to claim 1, it is characterised in that: the two sides of the front end edge of each body (1) point
It does not set there are two range sensor (13), the back end edge middle part of each body (1) is equipped with a range sensor (13).
6. Climbing Robot according to claim 1, it is characterised in that: there are four wheel hubs for distribution on the chassis (12)
(14), four wheel hubs (14) are located at the four angles position for adsorbing the matrix of empty (121), each wheel hub (14) connection
One decelerating motor (15).
7. Climbing Robot according to claim 6, it is characterised in that: each wheel hub (14) is all made of Mecanum
Wheel.
8. Climbing Robot according to claim 1, it is characterised in that: the two of them skew symmetry angle of the chassis (12)
On be respectively equipped with a pressure sensor (16).
9. Climbing Robot according to claim 1, it is characterised in that: the surrounding of the chassis (12) posts adhesive tape
(17)。
10. Climbing Robot according to claim 1, it is characterised in that: the middle position of the body upper is equipped with
Support frame (18), the centrifugal blower (11) are fixed on support frame (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910181389.7A CN110001811B (en) | 2019-03-11 | 2019-03-11 | Wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910181389.7A CN110001811B (en) | 2019-03-11 | 2019-03-11 | Wall climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110001811A true CN110001811A (en) | 2019-07-12 |
| CN110001811B CN110001811B (en) | 2024-07-26 |
Family
ID=67166782
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910181389.7A Active CN110001811B (en) | 2019-03-11 | 2019-03-11 | Wall climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110001811B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110395329A (en) * | 2019-07-30 | 2019-11-01 | 南京昱晟机器人科技有限公司 | A kind of hook formula climbing robot |
| CN113696986A (en) * | 2021-09-18 | 2021-11-26 | 河北工业大学 | Flexible tracked robot connecting device |
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| CN110395329A (en) * | 2019-07-30 | 2019-11-01 | 南京昱晟机器人科技有限公司 | A kind of hook formula climbing robot |
| CN110395329B (en) * | 2019-07-30 | 2020-07-03 | 南京昱晟机器人科技有限公司 | Hook type climbing robot |
| WO2021017565A1 (en) * | 2019-07-30 | 2021-02-04 | 南京昱晟机器人科技有限公司 | Pawl-type climbing robot |
| CN113696986A (en) * | 2021-09-18 | 2021-11-26 | 河北工业大学 | Flexible tracked robot connecting device |
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